EP3326763A4 - Dispositif de commande, procédé de commande et appareil de type bras de support médical - Google Patents

Dispositif de commande, procédé de commande et appareil de type bras de support médical Download PDF

Info

Publication number
EP3326763A4
EP3326763A4 EP16832589.2A EP16832589A EP3326763A4 EP 3326763 A4 EP3326763 A4 EP 3326763A4 EP 16832589 A EP16832589 A EP 16832589A EP 3326763 A4 EP3326763 A4 EP 3326763A4
Authority
EP
European Patent Office
Prior art keywords
support arm
medical support
arm apparatus
control device
control method
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP16832589.2A
Other languages
German (de)
English (en)
Other versions
EP3326763A1 (fr
EP3326763B1 (fr
Inventor
Yohei Kuroda
Tetsuharu Fukushima
Fumiyasu Suzuki
Toshimitsu Tsuboi
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sony Group Corp
Original Assignee
Sony Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sony Corp filed Critical Sony Corp
Priority to EP21207616.0A priority Critical patent/EP3981354A1/fr
Publication of EP3326763A1 publication Critical patent/EP3326763A1/fr
Publication of EP3326763A4 publication Critical patent/EP3326763A4/fr
Application granted granted Critical
Publication of EP3326763B1 publication Critical patent/EP3326763B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
    • A61B1/00006—Operational features of endoscopes characterised by electronic signal processing of control signals
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00149—Holding or positioning arrangements using articulated arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A61B2090/066—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring torque
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B2090/508—Supports for surgical instruments, e.g. articulated arms with releasable brake mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/30—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
    • A61B90/35—Supports therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Public Health (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Veterinary Medicine (AREA)
  • General Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Molecular Biology (AREA)
  • Biomedical Technology (AREA)
  • Medical Informatics (AREA)
  • Pathology (AREA)
  • Physics & Mathematics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Biophysics (AREA)
  • Optics & Photonics (AREA)
  • Robotics (AREA)
  • Signal Processing (AREA)
  • Human Computer Interaction (AREA)
  • Mechanical Engineering (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Manipulator (AREA)
EP16832589.2A 2015-08-04 2016-05-31 Dispositif de commande, procédé de commande et appareil de type bras de support médical Active EP3326763B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP21207616.0A EP3981354A1 (fr) 2015-08-04 2016-05-31 Appareil de commande, procédé de commande et appareil de bras de support médical

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2015154100 2015-08-04
PCT/JP2016/066001 WO2017022310A1 (fr) 2015-08-04 2016-05-31 Dispositif de commande, procédé de commande et appareil de type bras de support médical

Related Child Applications (1)

Application Number Title Priority Date Filing Date
EP21207616.0A Division EP3981354A1 (fr) 2015-08-04 2016-05-31 Appareil de commande, procédé de commande et appareil de bras de support médical

Publications (3)

Publication Number Publication Date
EP3326763A1 EP3326763A1 (fr) 2018-05-30
EP3326763A4 true EP3326763A4 (fr) 2019-03-13
EP3326763B1 EP3326763B1 (fr) 2021-12-08

Family

ID=57944018

Family Applications (2)

Application Number Title Priority Date Filing Date
EP21207616.0A Withdrawn EP3981354A1 (fr) 2015-08-04 2016-05-31 Appareil de commande, procédé de commande et appareil de bras de support médical
EP16832589.2A Active EP3326763B1 (fr) 2015-08-04 2016-05-31 Dispositif de commande, procédé de commande et appareil de type bras de support médical

Family Applications Before (1)

Application Number Title Priority Date Filing Date
EP21207616.0A Withdrawn EP3981354A1 (fr) 2015-08-04 2016-05-31 Appareil de commande, procédé de commande et appareil de bras de support médical

Country Status (3)

Country Link
US (2) US10730189B2 (fr)
EP (2) EP3981354A1 (fr)
WO (1) WO2017022310A1 (fr)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11561359B2 (en) * 2018-02-09 2023-01-24 Carl Zeiss Meditec Ag Balancing device for rotary apparatus
US11198227B2 (en) * 2018-12-04 2021-12-14 Raytheon Company Adjustable ballast system and method for same
US11027435B2 (en) 2018-12-04 2021-06-08 Raytheon Company Automated work piece testing system and method for same
CN113507897A (zh) * 2019-03-14 2021-10-15 柯惠Lp公司 使用惯性测量单元的器械驱动单元扭矩补偿
DK180673B1 (en) * 2019-12-29 2021-11-25 Universal Robots As Method of obtaining vibrational properties of robot arm
CN113844845B (zh) * 2020-06-28 2023-05-02 菜鸟智能物流控股有限公司 一种对接装置、方法和运输设备
DE102020122352A1 (de) * 2020-08-26 2022-03-03 Isys Medizintechnik Gmbh Motorisierter Positionierarm
CN112936266A (zh) * 2021-01-29 2021-06-11 齐鲁工业大学 网络化机械臂系统自适应一致性切换控制方法及系统
DE102022113294B4 (de) * 2022-05-25 2024-06-06 Karl Storz Se & Co. Kg Medizinische Haltearmvorrichtung

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140222207A1 (en) * 2012-08-03 2014-08-07 Stryker Corporation Surgical Manipulator Capable of Controlling a Surgical Instrument in Multiple Modes
EP3120979A1 (fr) * 2014-03-14 2017-01-25 Sony Corporation Dispositif de bras robotisé, procédé et programme de commande de bras robotisé

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2645004B2 (ja) 1987-02-27 1997-08-25 株式会社東芝 多自由度マニピユレータの制御装置
JPH05138583A (ja) 1991-11-19 1993-06-01 Nachi Fujikoshi Corp 産業用ロボツトのアーム落下防止装置
JPH0631656A (ja) 1992-07-10 1994-02-08 Shibaura Eng Works Co Ltd 位置決め装置
JPH0631856A (ja) 1992-07-21 1994-02-08 Mitsubishi Plastics Ind Ltd 多層樹脂被覆鋼管
US6468265B1 (en) * 1998-11-20 2002-10-22 Intuitive Surgical, Inc. Performing cardiac surgery without cardioplegia
US8864846B2 (en) * 2005-03-31 2014-10-21 Massachusetts Institute Of Technology Model-based neuromechanical controller for a robotic leg
US20080009771A1 (en) * 2006-03-29 2008-01-10 Joel Perry Exoskeleton
JP2007301691A (ja) 2006-05-12 2007-11-22 Nachi Fujikoshi Corp ロボット制御装置
US8108092B2 (en) * 2006-07-14 2012-01-31 Irobot Corporation Autonomous behaviors for a remote vehicle
JP2010082188A (ja) 2008-09-30 2010-04-15 Olympus Corp 手術マニピュレータシステム
JP2013226619A (ja) 2012-04-25 2013-11-07 Jtekt Corp ロボット制御方法及びロボット制御装置
JP5444421B2 (ja) * 2012-06-28 2014-03-19 ファナック株式会社 ブレーキ異常診断方法およびブレーキ異常診断装置
WO2015146850A1 (fr) * 2014-03-28 2015-10-01 ソニー株式会社 Dispositif de bras robotique, et procédé et programme de commande de dispositif de bras robotique
US9841749B2 (en) * 2014-04-01 2017-12-12 Bot & Dolly, Llc Runtime controller for robotic manufacturing system
EP3182951A1 (fr) * 2014-08-18 2017-06-28 Ondal Medical Systems GmbH Ensemble pied réagissant à la force ou au mouvement, dispositif de commande et procédé de positionnement dudit ensemble pied

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140222207A1 (en) * 2012-08-03 2014-08-07 Stryker Corporation Surgical Manipulator Capable of Controlling a Surgical Instrument in Multiple Modes
EP3120979A1 (fr) * 2014-03-14 2017-01-25 Sony Corporation Dispositif de bras robotisé, procédé et programme de commande de bras robotisé

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of WO2017022310A1 *

Also Published As

Publication number Publication date
EP3981354A1 (fr) 2022-04-13
US20200324419A1 (en) 2020-10-15
US20180264655A1 (en) 2018-09-20
EP3326763A1 (fr) 2018-05-30
WO2017022310A1 (fr) 2017-02-09
EP3326763B1 (fr) 2021-12-08
US11458637B2 (en) 2022-10-04
US10730189B2 (en) 2020-08-04

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